相关论文: Learning to Visually Navigate in Photorealistic En…

Learning to navigate in unstructured environments is a challenging task for robots. While reinforcement learning can be effective, it often requires extensive data collection and can pose risk. Learning from expert demonstrations, on the…

This paper studies the problem of predicting future trajectories of people in unseen cameras of novel scenarios and views. We approach this problem through the real-data-free setting in which the model is trained only on 3D simulation data…

Target-driven visual navigation is a challenging problem that requires a robot to find the goal using only visual inputs. Many researchers have demonstrated promising results using deep reinforcement learning (deep RL) on various robotic…

For the most comfortable, human-aware robot navigation, subjective user preferences need to be taken into account. This paper presents a novel reinforcement learning framework to train a personalized navigation controller along with an…

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…

Many high-level skills that are required for computer vision tasks, such as parsing questions, comparing and contrasting semantics, and writing descriptions, are also required in other domains such as natural language processing. In this…

Vision-and-Language Navigation (VLN) requires an agent to follow natural-language instructions, explore the given environments, and reach the desired target locations. These step-by-step navigational instructions are crucial when the agent…

Self-supervised methods, wherein an agent learns representations solely by observing the results of its actions, become crucial in environments which do not provide a dense reward signal or have labels. In most cases, such methods are used…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

Current unsupervised image-to-image translation techniques struggle to focus their attention on individual objects without altering the background or the way multiple objects interact within a scene. Motivated by the important role of…

Humans effortlessly "program" one another by communicating goals and desires in natural language. In contrast, humans program robotic behaviours by indicating desired object locations and poses to be achieved, by providing RGB images of…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

The Vision-and-Language Navigation (VLN) task entails an agent following navigational instruction in photo-realistic unknown environments. This challenging task demands that the agent be aware of which instruction was completed, which…

Vision-and-language navigation (VLN) requires an embodied agent to navigate in realistic 3D environments using natural language instructions. Existing VLN methods suffer from training on small-scale environments or unreasonable…

Implicit representations such as Neural Radiance Fields (NeRF) have been shown to be very effective at novel view synthesis. However, these models typically require manual and careful human data collection for training. In this paper, we…

Brain-computer interface (BCI) systems have potential as assistive technologies for individuals with severe motor impairments. Nevertheless, individuals must first participate in many training sessions to obtain adequate data for optimizing…

We present a scalable approach for learning open-world object-goal navigation (ObjectNav) -- the task of asking a virtual robot (agent) to find any instance of an object in an unexplored environment (e.g., "find a sink"). Our approach is…